Existence and design of a strongly stabilizing controller for the Pendubot

This paper concerns the strong stabilization for a typical example of underactuated robots called the Pendubot, which is two-link underactuated planar robot with a single actuator at the first joint. This paper shows the existence and design method of strongly stabilizing controllers for the upright equilibrium point of the Pendubot by designing a specific output and employing the pole-zero relation of the linearized model around the equilibrium point. Simulation results are presented to validate the theoretical results.